H. Wang

Tianyue Zheng, Ang Li, Zhe Chen et al.

Object detection with on-board sensors (e.g., lidar, radar, and camera) play a crucial role in autonomous driving (AD), and these sensors complement each other in modalities. While crowdsensing may potentially exploit these sensors (of huge quantity) to derive more comprehensive knowledge, \textit{federated learning} (FL) appears to be the necessary tool to reach this potential: it enables autonomous vehicles (AVs) to train machine learning models without explicitly sharing raw sensory data. However, the multimodal sensors introduce various data heterogeneity across distributed AVs (e.g., label quantity skews and varied modalities), posing critical challenges to effective FL. To this end, we present AutoFed as a heterogeneity-aware FL framework to fully exploit multimodal sensory data on AVs and thus enable robust AD. Specifically, we first propose a novel model leveraging pseudo-labeling to avoid mistakenly treating unlabeled objects as the background. We also propose an autoencoder-based data imputation method to fill missing data modality (of certain AVs) with the available ones. To further reconcile the heterogeneity, we finally present a client selection mechanism exploiting the similarities among client models to improve both training stability and convergence rate. Our experiments on benchmark dataset confirm that AutoFed substantially improves over status quo approaches in both precision and recall, while demonstrating strong robustness to adverse weather conditions.

Yudong Han, Haocong Wang, Yupeng Hu et al.

Due to the superior ability of global dependency, transformer and its variants have become the primary choice in Masked Time-series Modeling (MTM) towards time-series classification task. In this paper, we experimentally analyze that existing transformer-based MTM methods encounter with two under-explored issues when dealing with time series data: (1) they encode features by performing long-dependency ensemble averaging, which easily results in rank collapse and feature homogenization as the layer goes deeper; (2) they exhibit distinct priorities in fitting different frequency components contained in the time-series, inevitably leading to spectrum energy imbalance of encoded feature. To tackle these issues, we propose an auxiliary content-aware balanced decoder (CBD) to optimize the encoding quality in the spectrum space within masked modeling scheme. Specifically, the CBD iterates on a series of fundamental blocks, and thanks to two tailored units, each block could progressively refine the masked representation via adjusting the interaction pattern based on local content variations of time-series and learning to recalibrate the energy distribution across different frequency components. Moreover, a dual-constraint loss is devised to enhance the mutual optimization of vanilla decoder and our CBD. Extensive experimental results on ten time-series classification datasets show that our method nearly surpasses a bunch of baselines. Meanwhile, a series of explanatory results are showcased to sufficiently demystify the behaviors of our method.